MECHANICAL DESIGN OF DUAL-ARMS FOR SOCIAL SERVICE ROBOT BASED ON NONVERBAL INTERACTION

Abstract

ABSTRACT
Robots have become increasingly popular for fulfilling various tasks in
different fields to reduce labor, increase productivity, and replace humans in
hazardous and dangerous environments. Currently, service robots are designed as
humanoids. The robot serves the community in public environments and has the
ability to interact with humans through nonverbal communication. Robots with
receptionist functions can interact with customers, which is one way to impress
and arouse curiosity among customers. This contributes to attracting and
encouraging more customers to visit the store. Recognizing the high potential and
practicality in reality, this paper presents the mechanical design of dual arms for
a humanoid robot that allows the robot to replicate human-like movements and
gestures based on nonverbal interaction. The system consists of 1 pair of arms
with 4 dof each. Each arm weighs 1.5kg and has a reach of 645 mm. The robot's
movements are optimized by mechanical design for the two arms of the robot
during the interaction. In the experiment process, the robot's dual arms work
flexibly in nonverbal interactions with the surrounding communicators.